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First, you need to open objects.rfa file with WinRFA or BGA. Then open \Soldiers\Common\CommonSoldierData.inc with notepad and change ObjectTemplate.TimeToLiveAfterDeath parameter to the time you want dead bodies to stay.
Same for vehicles, but you need to edit each vehicle's objects.con file, they are located in Vehicles\Air\ and Vehicles\Land\.
After editing save text file and then save objects.rfa file pressing File -> Save in WinRFA or BGA